Real-time performance and safety validation of an integrated vehicle dynamic control strategy

Conference paper (2017)

Authors

Shiqian Li General Motors
S. Baldi Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2017 Arya Senna Abdul Rachman, Adem Ferad Idriz, Shiqian Li, S. Baldi
DOI: https://doi.org/10.1016/j.ifacol.2017.08.2228
Advanced driver assistance systems Longitudinal Lateral vehicle control Real-time validation Vehicle system integration
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Published Date

2017

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

The state of the art in automotive control has proposed several analytical, simulation and experimental studies of longitudinal adaptive cruise control strategies, and of lateral control strategies. However, methodical integration of these two strategies is to a large extent missing, as well as validation in real-time computing environment of the safety and performance of longitudinal and lateral integrated solutions. This work proposes a real-time validation of an integrated vehicle dynamic control strategy, designed to create safe interaction between longitudinal and lateral controllers: the integrated system is designed, implemented and tested through Dynacar, a real-time simulation environment for the development and validation of vehicle embedded functionalities. The results show that the proposed integrated controller satisfies the performance in terms of real-time computation, path tracking and collision avoidance for various driving situations.